{"id":40894310,"url":"https://github.com/open-rdc/nav_cloning","last_synced_at":"2026-01-22T02:18:21.524Z","repository":{"id":38325195,"uuid":"403258186","full_name":"open-rdc/nav_cloning","owner":"open-rdc","description":"Imitation Learning for navigation","archived":false,"fork":false,"pushed_at":"2025-03-04T07:12:54.000Z","size":365,"stargazers_count":7,"open_issues_count":6,"forks_count":6,"subscribers_count":17,"default_branch":"pytorch","last_synced_at":"2025-03-04T08:19:39.060Z","etag":null,"topics":["deep-learning","imitation-learning","navigation","python","ros"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/open-rdc.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2021-09-05T08:45:51.000Z","updated_at":"2024-08-11T13:21:10.000Z","dependencies_parsed_at":"2024-01-06T07:32:35.615Z","dependency_job_id":"a7821b38-9a15-4aa8-be3b-d0bd357efd0f","html_url":"https://github.com/open-rdc/nav_cloning","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/open-rdc/nav_cloning","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/open-rdc%2Fnav_cloning","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/open-rdc%2Fnav_cloning/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/open-rdc%2Fnav_cloning/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/open-rdc%2Fnav_cloning/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/open-rdc","download_url":"https://codeload.github.com/open-rdc/nav_cloning/tar.gz/refs/heads/pytorch","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/open-rdc%2Fnav_cloning/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":28651164,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-01-22T01:17:37.254Z","status":"online","status_checked_at":"2026-01-22T02:00:07.137Z","response_time":144,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["deep-learning","imitation-learning","navigation","python","ros"],"created_at":"2026-01-22T02:18:20.837Z","updated_at":"2026-01-22T02:18:21.509Z","avatar_url":"https://github.com/open-rdc.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# nav_cloning\nフレームワークをpytorchに移行(開発中)\n\n\n## Running simulation\n\n### 一括して起動\n* nav_cloning (一定経路の模倣学習)\n```\nroscd nav_cloning/experiments/\n./experiment_use_dl_output.sh\n```\n`nav_cloning/data`フォルダにログと学習済みモデルを保存  \nシェルファイルのパラメータを変更することで様々な条件で実験可能\n\n* nav_cloning_with_direction (経路選択を含む模倣学習)\n```\nroscd nav_cloning/experiments/\n./experiment_with_direction_use_dl_output.sh\n```\n`nav_cloning/data`フォルダにログと学習済みモデルが保存  \nシェルファイルのパラメータを変更することで様々な条件で実験可能\n\n[![IMAGE](http://img.youtube.com/vi/6LG06ZbCjto/0.jpg)](https://youtu.be/6LG06ZbCjto)\n\n### 分割して起動\n* シミュレータの起動\n```\nroslaunch nav_cloning nav_cloning_sim.launch\n```\n* rviz上の2D Pose Estimateで自己位置を合わせる\n* 実行\n```\nrosservice call /start_wp_nav\n```\n* save data:  /nav_cloning/data/result \\\nloss \\\nangle_error : navigationの出力と訓練されたモデルの出力の差 \\\ndistance : 目標経路とロボットの位置の間の距離\n\n## install\n* Environment\n  * ubuntu20.04\n  * [ros noetic](http://wiki.ros.org/noetic/Installation/Ubuntu)\n  * Python3\n\n* Install python3-catkin-tools\n  ```\n  sudo sh -c 'echo \"deb http://packages.ros.org/ros/ubuntu `lsb_release -sc` main\" \u003e /etc/apt/sources.list.d/ros-latest.list'\n  wget http://packages.ros.org/ros.key -O - | sudo apt-key add -\n  sudo apt update\n  sudo apt install python3-catkin-tools\n  ```\n\n* Install nav_cloning\n  ```\n  mkdir -p ~/catkin_ws/src\n  cd ~/catkin_ws/src\n  git clone https://github.com/open-rdc/nav_cloning\n  wstool init\n  wstool merge nav_cloning/nav_cloning.install\n  wstool up\n  rosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y\n  cd ~/catkin_ws\n  catkin build\n\n  sudo apt install python3-pip\n  pip3 install torch torchvision scikit-image tensorboard\n  pip3 install --upgrade numpy scikit-image\n  echo \"export TURTLEBOT3_MODEL=waffle_pi\" \u003e\u003e ~/.bashrc\n  source ~/.bashrc\n  ```\n\n* for CPU\n  ```\n  pip3 install torchaudio --extra-index-url https://download.pytorch.org/whl/cpu\n  ```\n\n----- old version -----\n\n* nav_cloningの用意\n```\ncd ~/catkin_ws/src\nwget https://raw.githubusercontent.com/open-rdc/nav_cloning/pytorch/nav_cloning.install\nwstool init\nwstool merge nav_cloning.install\nwstool up\n```\n* 依存パッケージのインストール\n```\ncd ~/catkin_ws/src\nrosdep init\nrosdep install --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y\ncd ../\ncatkin_make\n```\n* その他インストール\nGPUを使用するかでインストールするものが変わります．\nGPU関連の設定は細心の注意をはらっておこなってください．\n\n\u003c共通\u003e\n```\npip３ install scikit-image　　\npip3 install tensorboard\n```\n\u003cCPU のみ\u003e\n```\npip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cpu\n```\n\u003cGPU使用\u003e\n使用しているデバイスを確認し，セットアップします\n* nvidia driver\n* CUDA \n* cuDNN \n\nその後インストールしたCUDAのバージョンに対応したPytorchのバージョンを下記からダウンロードします\n```\nhttps://pytorch.org/get-started/locally/\n```\n## Docker\n作成次第追加\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopen-rdc%2Fnav_cloning","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fopen-rdc%2Fnav_cloning","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fopen-rdc%2Fnav_cloning/lists"}